Self-propelled ion generator and cleaning robot

ABSTRACT

A cleaning robot ( 1 ) that is a self-propelled ion generator includes: a main body enclosure ( 2 ) to which a suction port ( 6 ) and an exhaust port ( 7 ) are open and which is self-propelled on a floor surface; an electric blower ( 22 ) which is arranged within the main body enclosure ( 2 ); an ion generation device ( 25 ) which discharges ions into a second exhaust passage ( 24   b ) between the electric blower ( 22 ) and the exhaust port ( 7 ); and environment detection devices which detect the surrounding environment of the main body enclosure ( 2 ), where the self-propelled ion generator remains, for a given time, in a specific place specified based on the surrounding environment of the main body enclosure ( 2 ) detected by the environment detection device, and feeds out an air current containing the ions through the exhaust port ( 7 ) by drive of the ion generation device ( 25 ) and the electric blower ( 22 ).

TECHNICAL FIELD

The present invention relates to a self-propelled ion generator thatfeeds out ions while being self-propelled on a floor surface. Thepresent invention also relates to a cleaning robot that feeds out ionswhile being self-propelled on a floor surface and performing cleaning.

BACKGROUND ART

A conventional self-propelled ion generator is disclosed as a cleaningrobot in patent document 1. This cleaning robot is self-propelled on afloor surface with drive wheels provided in a main body enclosure thatis substantially circular in plan view. Here, in order to clean an areaunder a table or the like, the main body enclosure is formed to be thinsuch that its height is low.

In the conventional cleaning robot described above, an ion generationdevice that generates ions is arranged within the main body enclosure.The ion generation device discharges ions into a duct communicating witha discharge port open to the circumferential surface of the main bodyenclosure. By the drive of an ion blower arranged within the duct, ionsare fed out through the discharge port.

The cleaning robot also can clean a floor surface. A suction port isopen to the bottom surface of the main body enclosure, and on thecircumferential surface of the main body enclosure, an exhaust port isopen backward with respect to the direction of travel at the time ofcleaning. Within the main body enclosure, an electric blower and a dustcollection portion are provided.

In the cleaning robot configured as described above, when an ion feedingoperation is started, the drive wheels, the ion generation device andthe ion blower are driven. The main body enclosure is self-propelled onan indoor floor surface by the rotation of the drive wheels, and ionsare fed out through the discharge port by the ion generation device andthe ion blower. Thus, it is possible to perform deodorizing anddisinfecting indoors.

When the cleaning operation is started, an air current containing dustis sucked by the electric blower through the suction port. The dustcontained in the air current is collected in the dust collectionportion, and the air current in which the dust has been removed ispassed through the electric blower and is exhausted backward through theexhaust port of the circumferential surface.

RELATED ART DOCUMENT Patent Document

-   Patent document 1: JP-A-2005-46616 (pages 4 to 8 and FIG. 4)

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention

However, the conventional self-propelled ion generator feeds out ionsover a surrounding area in travel. Thus, it is disadvantageouslyimpossible to effectively distribute ions to the desired place and henceexpect the effects of ions such as deodorizing and disinfecting.

Although the conventional cleaning robot described above can feed outions even in a state where the cleaning robot is stopped by theoperation of a user, the cleaning robot does not automatically identifythe place where the distribution of ions is needed. Thus, it isdisadvantageously impossible to effectively distribute ions to the placewhere the effects of ions such as deodorizing and disinfecting areneeded.

The present invention is made in view of the foregoing problems; anobject of the present invention is to provide a self-propelled iongenerator and a cleaning robot that can effectively distribute ions tothe area in which the ions are needed.

Means for Solving the Problem

To achieve the foregoing problems, according to the present invention,there is provided a self-propelled ion generator including: a main bodyenclosure to which a suction port and an exhaust port are open and whichis self-propelled on a floor surface; an electric blower which isarranged within the main body enclosure; an ion generation device whichdischarges ions into an exhaust flow passage between the electric blowerand the exhaust port; and an environment detection device which detectsa surrounding environment of the main body enclosure, where theself-propelled ion generator remains, for a given time, in a specificplace specified based on the surrounding environment of the main bodyenclosure detected by the environment detection device, and feeds out anair current containing the ions through the exhaust port by drive of theion generation device and the electric blower.

In this configuration, the main body enclosure of the self-propelled iongenerator is self-propelled on the floor surface, and when the electricblower is driven, the air current is sucked through the suction portopen to the main body enclosure. The air current sucked into the mainbody enclosure is passed through the electric blower, and ions aredischarged by the ion generation device through the exhaust flowpassage. The air current containing the ions is fed out into the roomthrough the exhaust port open to the main body enclosure. The main bodyenclosure remains, for the given time, in the specific place specifiedbased on the surrounding environment detected by the environmentdetection device, and feeds out the air current containing the ionsthrough the exhaust port.

The “specific place” described herein can be set at the place specifiedbased on the surrounding environment of the main body enclosure detectedby the environment detection device, for example, the state of air inthe surrounding area. The specific place can be set at, for example, asdescribed later, the place where odor detected by the odor sensor ispresent or the place where humidity detected by the humidity sensor ishigh; however, the specific place is not limited to these places. The“given time” refers to a predetermined and arbitrary time during whichthe main body enclosure remains in the same place.

In the self-propelled ion generator configured as described above, theenvironment detection device is an odor sensor that detects odor in asurrounding area of the main body enclosure, and the self-propelled iongenerator remains, for the given time, regarding, as the specific place,a detection place based on detection of an odor of a predeterminedthreshold value or more by the odor sensor, and feeds out the aircurrent containing the ions through the exhaust port.

In this configuration, the self-propelled ion generator remains in thespecific place where the odor of the predetermined threshold value ormore is present and feeds out the air current containing ions. Hence,the self-propelled ion generator distributes ions mainly to, forexample, a place where odor is present.

In the self-propelled ion generator configured as described above, theenvironment detection device is a humidity sensor that detects humidityin a surrounding area of the main body enclosure, and the self-propelledion generator remains, for the given time, regarding, as the specificplace, a detection place based on detection of a humidity of apredetermined threshold value or more by the humidity sensor, and feedsout the air current containing the ions through the exhaust port.

In this configuration, the self-propelled ion generator remains in thespecific place where the humidity of the predetermined threshold valueor more is present and feeds out the air current containing ions. Hence,the self-propelled ion generator distributes ions mainly to, forexample, a place where humidity is high.

In the self-propelled ion generator configured as described above, theenvironment detection device is a map that describes the specific placein a surrounding area of an installation place of the self-propelled iongenerator, and the self-propelled ion generator remains, for the giventime, in the specific place described in the map, and feeds out the aircurrent containing the ions through the exhaust port.

In this configuration, the self-propelled ion generator remains in thespecific place previously described in the map where ions are needed,and feeds out the air current containing ions. Hence, the self-propelledion generator distributes ions mainly to, for example, a place whereodor is present or a place where humidity is high previously describedin the map.

The self-propelled ion generator configured as described above includesa human detection sensor which detects presence of a person, anddisplaces the main body enclosure based on detection information fromthe human detection sensor such that a direction in which the person ispresent differs from a direction in which air is exhausted through theexhaust port.

In this configuration, when the self-propelled ion generator detects aperson, the self-propelled ion generator exhausts air in a direction inwhich the person is not present. Thus, it is possible to prevent airexhausted through the exhaust port from directly hitting the person.

The self-propelled ion generator configured as described above includesa movable louver which can change the direction in which the air isexhausted through the exhaust port, and displaces the movable louver soas to change, according to a speed of travel when the main bodyenclosure is self-propelled, the direction in which the air is exhaustedthrough the exhaust port.

In this configuration, the self-propelled ion generator exhausts air ina different direction according to the speed of travel when the mainbody enclosure is self-propelled. Thus, the self-propelled ion generatordistributes ions to a different region according to the speed of travel.

The self-propelled ion generator configured as described above displacesthe movable louver such that it is possible to exhaust air upward whenthe main body enclosure travels as compared with when the main bodyenclosure is stopped.

In this configuration, as the speed of travel of the main body enclosureis increased, the self-propelled ion generator distributes ions to awider region.

According to the present invention, there is provided a cleaning robot,where the self-propelled ion generator configured as described aboveincludes a dust collection portion that collects dust of an air currentsucked through the suction port by drive of the electric blower.

In this configuration, the main body enclosure of the cleaning robot isself-propelled on the floor surface, and when the electric blower isdriven, the air current containing the dust is sucked through thesuction port open to the main body enclosure. The dust contained in theair current is collected in the dust collection portion. The air currentin which the dust has been removed in the dust collection portion ispassed through the electric blower, and the ions are discharged by theion generation device through the exhaust flow passage. The air currentcontaining the ions is fed out into the room through the exhaust portopen to the main body enclosure. The main body enclosure remains, forthe given time, in the specific place specified based on the surroundingenvironment detected by the environment detection device, and feeds outthe air current containing the ions through the exhaust port.

Advantages of the Invention

In the configuration of the present invention, the self-propelled iongenerator and the cleaning robot remain, for the given time, in thespecific place specified based on the surrounding environment, and feedsout the air current containing the ions through the exhaust port. Thus,it is possible to distribute the ions mainly to the specific place, forexample, a place where odor is present or a place where humidity ishigh. Hence, it is possible to provide the self-propelled ion generatorand the cleaning robot that can effectively distribute the ions to theplace where the ions are needed.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 A perspective view of a cleaning robot (self-propelled iongenerator) according to an embodiment of the present invention;

FIG. 2 A vertical cross-sectional side view of the cleaning robot shownin FIG. 1;

FIG. 3 An enlarged vertical cross-sectional side view of a front portionof the cleaning robot shown in FIG. 2;

FIG. 4 is a vertical cross-sectional side view showing a state where thedust collection portion of the cleaning robot of FIG. 2 is removed;

FIG. 5 is a perspective view of a motor unit of the cleaning robot shownin FIG. 2;

FIG. 6 is a block diagram showing the configuration of the cleaningrobot of FIG. 1;

FIG. 7 is a flowchart showing an operation of detecting odor by thecleaning robot of FIG. 1;

FIG. 8 is a flowchart showing an operation of detecting humidity by thecleaning robot of FIG. 1;

FIG. 9 is a flowchart showing an operation of a travel map by thecleaning robot of FIG. 1; and

FIG. 10 is a flowchart showing an operation of human detection by thecleaning robot of FIG. 1.

DESCRIPTION OF EMBODIMENTS

An embodiment of the present invention will be described below withreference to FIGS. 1 to 10. Here, a cleaning robot will be described asan example of a self-propelled ion generator.

A dust collection operation will first be described while the structureof the cleaning robot that is the example of the self-propelled iongenerator according to the embodiment of the present invention is beingdescribed with reference to FIGS. 1 to 6. FIG. 1 is a perspective viewof the cleaning robot; FIG. 2 is a vertical cross-sectional side view ofthe cleaning robot; FIG. 3 is an enlarged vertical cross-sectional sideview of a front portion of the cleaning robot; FIG. 4 is a verticalcross-sectional side view showing a state where the dust collectionportion of the cleaning robot is removed; FIG. 5 is a perspective viewof a motor unit of the cleaning robot; and FIG. 6 is a block diagramshowing the configuration of the cleaning robot.

As shown in FIG. 1, the cleaning robot 1 includes a main body enclosure2 that is substantially circular in plan view and that is self-propelledby driving the drive wheels 5 with a battery 13 (see FIG. 2 for each ofthem). On the upper surface of the main body enclosure 2, a lid portion3 is provided that is opened and closed when the dust collection portion30 (see FIG. 2) is removed and inserted.

As shown in FIG. 2, in the main body enclosure 2, a pair of drive wheels5 protruding from the bottom surface are arranged. The rotational shaftof the drive wheel 5 is arranged on the center line C of the main bodyenclosure 2. When both of the drive wheels 5 are rotated in the samedirection, the main body enclosure 2 is moved forward or backwardwhereas when both of the drive wheels 5 are rotated in oppositedirections, the main body enclosure 2 is rotated about the center line Cat the same place without being moved, that is, the drive wheels 5 arepivoted. The drive wheels 5 are driven by a travel motor 51 (see FIG.6).

In the front portion of the main body enclosure 2 on the front side ofthe direction of the movement at the time of cleaning, a suction port 6is provided in the bottom surface. The suction port 6 is formed to facea floor surface F by the open surface of a concave portion 8 that isprovided in the form of a concave in the bottom surface of the main bodyenclosure 2. Within the concave portion 8, a rotation brush 9 rotatingabout a horizontal rotational shaft is arranged, and on each side of theconcave portion 8, a side brush 10 rotating about a vertical rotationalshaft is arranged.

In front of the concave portion 8, a front wheel 15 in the shape of aroller is provided. At the back end of the main body enclosure 2, a rearwheel 16 that is formed with a freely moving wheel is provided. Thecleaning is performed with the front wheel 15 normally separated fromthe floor surface F and with the rotation brush 9, the drive wheels 5and the rear wheel 16 in contact with the floor surface F. The frontwheel 15 makes contact with a step that appears in its course, and thusthe main body enclosure 2 easily moves over the step.

At the back end of the circumferential surface of the main bodyenclosure 2, a charging terminal 4 that charges the battery 13 isprovided. The main body enclosure 2 is self-propelled and is moved backto a charging stage 40 provided indoors, and the charging terminal 4makes contact with a terminal portion 41 provided on the charging stage40, with the result that the battery 13 is charged. The charging stage40, which is normally connected to a commercial power supply, isprovided along a side wall S of the interior of the room.

Within the main body enclosure 2, the dust collection portion 30, whichcollects dust, is arranged. The dust collection portion 30 is heldwithin a dust collection room 39 provided in the main body enclosure 2.The dust collection room 39 is formed as an isolation room that iscovered with its four peripheral surfaces and bottom surface, and thewall surfaces except the front wall are blocked. To the front wall ofthe dust collection room 39, a first air intake passage 11 communicatingwith the concave portion 8 and a second air intake passage 12communicating with a motor unit 20 that is arranged on the upper portionof the concave portion 8 and that will be described later are led out.

The dust collection portion 30 is arranged on the center line C of themain body enclosure 2, and as shown in FIG. 4, can be removed andinserted by opening of the lid portion 3 of the main body enclosure 2.In the dust collection portion 30, an upper portion cover 32 having afilter 33 is attached to the upper surface of a dust container 31 thatis shaped tubular with a bottom. The upper portion cover 32 is locked bya movable locking portion 32 a to the dust container 31, and can beremoved from the dust container 31 by the operation of the lockingportion 32 a. Thus, it is possible to discard dust deposited in the dustcontainer 31.

To the peripheral surface of the dust container 31, an inflow passage 34that is open to an inflow port 34 a at an end and that communicates withthe first air intake passage 11 is led out. Within the dust container31, an inflow portion 34 is provided that is continuous with the inflowpassage 34 and that guides the air current downward by being bent. Tothe peripheral surface of the upper portion cover 32, an outflow passage35 that is open to an outflow port 35 a at an end and that communicateswith the second air intake passage 12 is led out.

Around the inflow port 34 a and the outflow port 35 a, packing (notshown) is provided that is closely in contact with the front wall of thedust collection room 39. Thus, the interior of the dust collection room39 holding the dust collection portion 30 is hermetically sealed. Thefront wall of the dust collection room 39 is formed as an inclinationsurface, and thus it is possible to prevent the degradation of thepacking by the sliding of the dust collection portion 30 at the time ofthe insertion and removal of the dust collection portion 30.

In an upper portion of the back of the dust collection room 39 withinthe main body enclosure 2, a control substrate 14 that includes a CPU 14a (see FIG. 6) which will be described later is arranged. In the controlsubstrate 14, a control circuit including the CPU 14 a that controls theindividual portions of the cleaning robot 1 is provided. In a lowerportion of the back of the dust collection room 39, the removablebattery 13 is arranged. The battery 13 is charged through the chargingterminal 4 by the charging stage 40, and supplies power to the controlsubstrate 14 to supply power to the individual motor portions of thedrive wheels 5, the rotation brush 9, the side brush 10, an electricblower 22 and the like.

In the front portion of the main body enclosure 2, the motor unit 20 isarranged. As shown in FIG. 5, the motor unit 20 includes a housing 21that is formed with a resin molded item and the electric blower 22 heldwithin the housing 21. The electric blower 22 is formed with a turbo fanthat is covered with a motor case 22 a.

In the motor case 22 a of the electric blower 22, an intake port (notshown) is open to one end in the direction of its shaft, and an exhaustport (not shown) is open to two places in its circumferential surface.In the front surface of the housing 21, an opening portion 23 isprovided that is opposite the intake port of the motor case 22 a andthat communicates with the second air intake passage 12. On both sidesof the electric blower 22 in the housing 21, a first exhaust passage 24a and a second exhaust passage 24 b are provided that communicate withthe exhaust ports of the motor case 22 a. The first and second exhaustpassages 24 a and 24 b communicate with an exhaust port 7 (see FIGS. 2and 3) provided in the upper surface of the main body enclosure 2. Theexhaust port 7 extends in a lateral direction that is perpendicular tothe front/back direction of the main body enclosure 2.

In the first exhaust passage 24 a, an ion generation device 25 thatincludes a pair of electrodes (not shown) is arranged. A voltage of analternating-current waveform or an impulse waveform is applied to theelectrodes of the ion generation device 25, and ions generated by thecorona discharge of the electrodes are discharged into the first exhaustpassage 24 a, that is, an exhaust flow passage between the electricblower 22 and the exhaust port 7.

A positive voltage is applied to one of the electrodes, and hydrogenions produced by the corona discharge are combined with water in the airto generate positive ions formed with H⁺(H₂O)_(m). A negative voltage isapplied to the other electrode, and oxygen ions produced by the coronadischarge are combined with water in the air to generate negative ionsformed with O₂ ⁻(H₂O)_(n). Here, m and n are arbitrary natural numbers.H⁺(H₂O)_(m) and O₂ ⁻(H₂O)_(n) are aggregated on the surfaces of airbornebacteria and odor components in the air to surround them.

As shown in formulas (1) to (3), [.OH] (hydroxyl radical) and H₂O₂(hydrogen peroxide) that are active species are aggregated and generatedon the surface of microorganisms and the like to break down airbornebacteria and odor components. Here, m′ and n′ are arbitrary naturalnumbers. Hence, by generating positive ions and negative ions andfeeding out them through the exhaust port 7, it is possible to performdisinfecting and deodorizing indoors.

H⁺(H₂O)_(m)+O₂ ⁻(H₂O)_(n)→.OH+½O₂+(m+n)H₂O  (1)

H⁺(H₂O)_(m)+H⁺(H₂O)_(m)′+O₂ ⁻(H₂O)_(n)+O₂⁻(H₂O)_(n)′→2.OH+O₂+(m+m′+n+n′)H₂O  (2)

H⁺(H₂O)_(m)+H⁺(H₂O)_(m)′O₂ ⁻(H₂O)_(n)+O₂⁻(H₂O)_(n)′→H₂O₂+O₂+(m+m′+n+n′)H₂O  (3)

A movable louver 17 is arranged outside the exhaust port 7 anddownstream in the direction of air circulation. As with the exhaust port7, the louver 17 extends in a lateral direction that is perpendicular tothe front/back direction of the main body enclosure 2. The louver 17slides about an axis line extending in the lateral direction that isperpendicular to the front/back direction of the main body enclosure 2,and thus it is possible to change its angle. The louver 17 receives acontrol signal from the control substrate 14, and thereby can change thedirection in which air is exhausted through the exhaust port 7 to anup/down direction.

Then, the cleaning robot 1 displaces the louver 17, and thereby canchange, according to the speed of travel when the main body enclosure 2is self-propelled, the direction in which air is exhausted through theexhaust port 7. For example, the cleaning robot 1 displaces the louver17 upward such that it is possible to exhaust air upward when thecleaning robot 1 travels as compared with when the main body enclosure 2is stopped. The louver 17 is displaced according to a state of each ofpredetermined low-speed travel and high-speed travel, and thus it isalso possible to change the direction in which air is exhausted throughthe exhaust port 7 at the time of each of the low-speed travel and thehigh-speed travel.

Here, in order to control the overall operation of the cleaning robot 1,the control substrate 14 is formed with the CPU 14 a shown in FIG. 6 andother unillustrated electronic components. The CPU 14 a is a centralprocessing unit, and controls, based on programs and data stored andinput in and to a storage portion 18 and the like, constituent elementssuch as the electric blower 22, the ion generation device 25, the travelmotor 51 and the louver 17 to realize a series of cleaning operation andion feeding operation.

The cleaning robot 1 includes a motor driver 22 a for driving theelectric blower 22, a motor driver 51 a for driving the travel motor 51and a control unit 17 a for driving the louver 17. The CPU 14 atransmits the control signal to each of the motor driver 22 a, the motordriver 51 a and the control unit 17 a to drive the electric blower 22,the travel motor 51 and the louver 17.

The CPU 14 a also receives, from an operation panel (not shown),condition settings for the operation of the cleaning robot 1 by theuser, and stores them in the storage portion 18 and the like.Furthermore, the storage portion 18 can store a travel map 18 a for thesurrounding area of the installation place of the cleaning robot 1. Inthe travel map 18 a, the user or the cleaning robot 1 itself canpreviously and automatically record information on the travel such as atravel route and a travel speed of the cleaning robot 1.

The cleaning robot 1 includes an odor sensor 52 and a humidity sensor 53as environment detection devices that detect the surrounding environmentof the main body enclosure 2.

The odor sensor 52 detects odor in the surrounding area of the main bodyenclosure 2. The odor sensor 52 is formed with, for example, asemiconductor or contact combustion odor sensor, and is arranged in thevicinity of the exterior of the device for detecting odor outside thecleaning robot 1. The CPU 14 a is connected through a control unit 52 ato the odor sensor 52, and obtains, based on an output obtained from theodor sensor 52, information on odor in the surrounding area of theoutside of the main body enclosure 2.

The humidity sensor 53 detects a humidity in the surrounding area of themain body enclosure 2. The humidity sensor 53 is formed with, forexample, a capacitance type or electrical resistance type humiditysensor using a polymer humidity-sensitive material, and is arranged inthe vicinity of the exterior of the device in order to detect a relativehumidity outside the cleaning robot 1. The CPU 14 a is connected througha control unit 53 a to the humidity sensor 53, and obtains, based on anoutput obtained from the humidity sensor 53, information on humidity inthe surrounding area of the outside of the main body enclosure 2.

In the travel map 18 a, a place where an odor of a predeterminedthreshold value or more is present and a place where a humidity of apredetermined threshold value or more is present are previouslydescribed as specific places related to the environment in thesurrounding area of the installation place of the cleaning robot 1.Since the CPU 14 a determines that based on the surrounding environmentof the main body enclosure, these specific places are the specifiedplaces, as with the odor sensor 52 and the humidity sensor 53, thetravel map 18 a plays a role as the environment detection device thatdetects the surrounding environment of the main body enclosure 2.

The cleaning robot 1 also includes a human detection sensor 54 fordetecting the presence of a person in the surrounding area of the mainbody enclosure 2. The human detection sensor 54 is formed with a humandetection sensor that detects the presence of a person with, forexample, infrared rays, ultrasound or visible light, and is arranged inthe vicinity of the exterior of the device in order to detect thepresence of a person outside the cleaning robot 1. The CPU 14 a isconnected through a control unit 54 a to the human detection sensor 54,and obtains, based on an output obtained from the human detection sensor54, information on the presence of a person in the surrounding area ofthe outside of the main body enclosure 2.

In the cleaning robot 1 configured as described above, when aninstruction is provided to perform the cleaning operation, the electricblower 22, the ion generation device 25, the drive wheels 5, therotation brush 9 and the side brush 10 are driven. Thus, the main bodyenclosure 2 is self-propelled in a predetermined range with the rotationbrush 9, the drive wheels 5 and the rear wheel 16 in contact with thefloor surface F, and sucks an air current containing dust on the floorsurface F through the suction port 6. Here, the dust on the floorsurface F is raised by the rotation of the rotation brush 9 and isguided into the concave portion 8. Dust on the side of the suction port6 is guided into the suction port 6 by the rotation of the side brush10.

The air current sucked through the suction port 6 is, as indicated by anarrow A1, passed backward along the first air intake passage 11, andflows into the dust collection portion 30 through the inflow port 34 a.Dust is collected by the filter 33 from the air current flowing into thedust collection portion 30, and the air current flows out from the dustcollection portion 30 through the outflow port 35 a. Thus, the dust iscollected and deposited within the dust container 31. The air currentflowing out of the dust collection portion 30 is, as indicated by anarrow A2, passed forward along the second air intake passage 12, andflows into the electric blower 22 of the motor unit 20 through theopening portion 23.

The air current passing through the electric blower 22 is passed alongthe first exhaust passage 24 a and the second exhaust passage 24 b. Theair current passing along the first exhaust passage 24 a contains ionsdischarged by the ion generation device 25. Then, the air currentcontaining the ions are exhausted through the exhaust port 7 provided inthe upper surface of the main body enclosure 2 as indicated by an arrowA3 diagonally upwardly to the back. Thus, the interior of the room iscleaned, and the ions contained in the exhausted air of theself-propelled main body enclosure 2 are spread over the interior of theroom, with the result that disinfecting and deodorizing are performed inthe interior of the room. Here, since the air is exhausted upwardthrough the exhaust port 7, the dust on the floor surface F is preventedfrom being raised, and thus it is possible to enhance the cleanliness ofthe interior of the room.

As described above, the cleaning robot 1 can simultaneously perform thecleaning operation and the ion feeding operation, and also canindividually perform the cleaning operation and the ion feedingoperation.

When both of the drive wheels 5 are rotated in opposite directions, themain body enclosure 2 is rotated about the center line C to change itsdirection, and the drive wheels 5 are pivoted. Thus, the main bodyenclosure 2 can be self-propelled in the entire desired range, and alsocan be self-propelled without avoiding an obstruction. Both of the drivewheels 5 may be reversed with respect to when the cleaning robot 1 movesforward to make the main body enclosure 2 move backward.

When the cleaning is completed, the main body enclosure 2 isself-propelled and moved back to the charging stage 40. Thus, thecharging terminal 4 makes contact with the terminal portion 41 to chargethe battery 13.

Then, the cleaning robot 1 performs unique operations based oninformation obtained from the odor sensor 52, the humidity sensor 53 andthe travel map 18 a, which are the environment detection devices, andthe human detection sensor 54. For example, the main body enclosure 2remains, for a given time, in a specific place specified based on thesurrounding environment detected by the environment detection device,and feeds out the air current containing ions through the exhaust port7. The operations will be described with reference to operational flowsshown in FIGS. 7 to 10.

An operation of detecting odor by the cleaning robot 1 will first bedescribed with reference to the flow shown in FIG. 7. FIG. 7 is aflowchart showing the operation of detecting odor by the cleaning robot1.

When the operation of the cleaning robot 1 is started (start of FIG. 7),the CPU 14 a operates the odor sensor 52 through the control unit 52 awhile performing the cleaning and the ion feeding by making the mainbody enclosure 2 travel (step #101 in FIG. 7). Then, whether or not theodor sensor 52 detects the odor of the predetermined threshold value ormore is determined (step #102). The threshold value for odor ispredetermined and stored in the storage portion 18 and the like. If theodor sensor 52 does not detect the odor of the predetermined thresholdvalue or more (no in step #102), the process returns to step #101 wherethe detection of odor by the odor sensor 52 is continued.

If the odor sensor 52 detects the odor of the predetermined thresholdvalue or more (yes in step #102), the CPU 14 a controls the travel motor51 through the motor driver 51 a to stop the travel of the main bodyenclosure 2 (step #103). Then, a time measurement using a timemeasurement portion (not shown) is started (step #104).

Then, the cleaning robot 1 rotates both of the drive wheels 5 inopposite directions, and thus the main body enclosure 2 is pivoted aboutthe center line C at the same place without being moved (step #105).Then, whether or not with respect to the time measurement started instep #104, a given time, for example, 30 seconds has elapsed isdetermined (step #106). The given time previously set at 30 seconds isan arbitrary time during which the main body enclosure 2 remains in thesame place, can be arbitrarily set as necessary and is stored in thestorage portion 18 and the like.

Until 30 seconds have elapsed (no in step #106), the cleaning robot 1repeats the pivoting operation in step #105. Thus, the cleaning robot 1remains, for a given time, regarding, as the specific place, thedetection place based on the fact that the odor sensor 52 detects theodor of the predetermined threshold value or more, and feeds out the aircurrent containing ions through the exhaust port 7.

If 30 seconds have elapsed (yes in step #106), the cleaning robot 1completes the time measurement and the pivoting operation (step #107).Then, the cleaning robot 1 restarts the normal travel (step #108), andthe process returns to step #101 where the detection of odor by the odorsensor 52 is continued.

Then, an operation of detecting humidity by the cleaning robot 1 will bedescribed with reference to the flow shown in FIG. 8. FIG. 8 is aflowchart showing the operation of detecting humidity by the cleaningrobot 1.

When the operation of the cleaning robot 1 is started (start of FIG. 8),the CPU 14 a operates the humidity sensor 53 through the control unit 53a while performing the cleaning and the ion feeding by making the mainbody enclosure 2 travel (step #201 in FIG. 8). Then, whether or not thehumidity sensor 53 detects the humidity of the predetermined thresholdvalue or more is determined (step #202). The threshold value forhumidity is predetermined and stored in the storage portion 18 and thelike. If the humidity sensor 53 does not detect the humidity of thepredetermined threshold value or more (no in step #202), the processreturns to step #201 where the detection of humidity by the humiditysensor 53 is continued.

If the humidity sensor 53 detects the humidity of the predeterminedthreshold value or more (yes in step #202), the CPU 14 a controls thetravel motor 51 through the motor driver 51 a to stop the travel of themain body enclosure 2 (step #203). Then, a time measurement using thetime measurement portion (not shown) is started (step #204).

Then, the cleaning robot 1 rotates both of the drive wheels 5 inopposite directions, and thus the main body enclosure 2 is pivoted aboutthe center line C at the same place without being moved (step #205).Then, whether or not with respect to the time measurement started instep #204, a given time, for example, 30 seconds has elapsed isdetermined (step #206). The given time previously set at 30 seconds isan arbitrary time during which the main body enclosure 2 remains in thesame place, can be arbitrarily set as necessary and is stored in thestorage portion 18 and the like.

Until 30 seconds have elapsed (no in step #206), the cleaning robot 1repeats the pivoting operation in step #205. Thus, the cleaning robot 1remains, for a given time, regarding, as the specific place, thedetection place based on the fact that the humidity sensor 53 detectsthe humidity of the predetermined threshold value or more, and feeds outthe air current containing ions through the exhaust port 7.

If 30 seconds have elapsed (yes in step #206), the cleaning robot 1completes the time measurement and the pivoting operation (step #207).Then, the cleaning robot 1 restarts the normal travel (step #208), andthe process returns to step #201 where the detection of humidity by thehumidity sensor 53 is continued.

Then, an operation of the travel map 18 a by the cleaning robot 1 willbe described with reference to the flow shown in FIG. 9. FIG. 9 is aflowchart showing the operation of the travel map 18 a by the cleaningrobot 1.

When the operation of the cleaning robot 1 is started (start of FIG. 9),the CPU 14 a performs the checking of the travel map 18 a whileperforming the cleaning and the ion feeding by making the main bodyenclosure 2 travel (step #301 in FIG. 9). Then, whether or not thecleaning robot 1 reaches the place where the odor of the predeterminedthreshold value or more is present or the place where the humidity ofthe predetermined threshold value or more is present is determined basedon the present location of the main body enclosure 2 and the informationdescribed in the travel map 18 a (step #302). In the travel map 18 a,the place where the odor of the predetermined threshold value or more ispresent and the place where the humidity of the predetermined thresholdvalue or more is present are previously described as the specific placerelated to the environment in the surrounding area of the installationplace of the cleaning robot 1, and are stored in the storage portion 18and the like. If the main body enclosure 2 does not reach the specificplace related to the surrounding environment (no in step #302), theprocess returns to step #301 where the travel is continued while thetravel map 18 a is being checked.

If the main body enclosure 2 reaches the specific place related to thesurrounding environment (yes in step #302), the CPU 14 a controls thetravel motor 51 through the motor driver 51 a to stop the travel of themain body enclosure 2 (step #303). Then, a time measurement using thetime measurement portion (not shown) is started (step #304).

Then, the cleaning robot 1 rotates both of the drive wheels 5 inopposite directions, and thus the main body enclosure 2 is pivoted aboutthe center line C at the same place without being moved (step #305).Then, whether or not with respect to the time measurement started instep #304, a given time, for example, 30 seconds has elapsed isdetermined (step #306). The given time previously set at 30 seconds isan arbitrary time during which the main body enclosure 2 remains in thesame place, can be arbitrarily set as necessary and is stored in thestorage portion 18 and the like.

Until 30 seconds have elapsed (no in step #306), the cleaning robot 1repeats the pivoting operation in step #305. Thus, the cleaning robot 1remains, for a given time, in the specific place, that is, the placewhere the odor of the predetermined threshold value or more is presentor the place where the humidity of the predetermined threshold value ormore is present described in the travel map 18 a, and feeds out the aircurrent containing ions through the exhaust port 7.

If 30 seconds have elapsed (yes in step #306), the cleaning robot 1completes the time measurement and the pivoting operation (step #307).Then, the cleaning robot 1 restarts the normal travel (step #308), andthe process returns to step #301 where the travel is continued while thetravel map 18 a is being checked.

In addition to the method of remaining for a given time when thespecific place described in the travel map 18 a is reached in the middleof the operation of the cleaning robot 1 over the entire installationplace as described above, the cleaning robot 1 may be moved to thespecific place to remain for a given time when the operation of thecleaning robot 1 is started or completed.

Then, an operation of human detection by the cleaning robot 1 will bedescribed with reference to the flow shown in FIG. 10. FIG. 10 is aflowchart showing the operation of human detection by the cleaning robot1.

When the operation of the cleaning robot 1 is started (start of FIG.10), the CPU 14 a operates the human detection sensor 54 through thecontrol unit 54 a while performing the cleaning and the ion feeding bymaking the main body enclosure 2 travel (step #401 in FIG. 10). Then,whether or not the human detection sensor 54 detects the presence of aperson in the direction in which air is exhausted through the exhaustport 7 is determined (step #402). If the human detection sensor 54 doesnot detect the presence of a person in the direction in which air isexhausted through the exhaust port 7 (no in step #402), the processreturns to step #401 where the detection of a person by the humandetection sensor 54 is continued.

If the human detection sensor 54 detects the presence of a person in thedirection in which air is exhausted through the exhaust port 7 (yes instep #402), the cleaning robot 1 changes the rotation speed of both ofthe drive wheels 5 such that the main body enclosure 2 is moved whilebeing rotated (step #403). Then, whether or not the direction in whichthe person detected by the human detection sensor 54 is presentcoincides with the direction in which air is exhausted through theexhaust port 7 is determined (step #404).

While the direction in which the person is present coincides with thedirection in which air is exhausted through the exhaust port 7 (yes instep #404), the cleaning robot 1 repeats the rotation movement operationin step #403. Thus, the cleaning robot 1 displaces the main bodyenclosure 2 based on detection information from the human detectionsensor 54 such that the direction in which the person is present differsfrom the direction in which air is exhausted through the exhaust port 7.

If the direction in which the person is present fails to coincide withthe direction in which air is exhausted through the exhaust port 7 (noin step #404), the cleaning robot 1 completes the rotation movementoperation (step #405). Then, the cleaning robot 1 restarts the normaltravel (step #406), and the process returns to step #401 where thedetection of a person by the human detection sensor 54 is continued.

As described above, the cleaning robot 1 includes the ion generationdevice 25 that discharges ions into the first exhaust passage 24 awithin the main body enclosure 2 and the environment detection devices(for example, the odor sensor 52, the humidity sensor 53 and the travelmap 18 a) that detect the surrounding environment of the main bodyenclosure 2, remains, for a given time, in the specific place specifiedbased on the surrounding environment of the main body enclosure 2detected by the environment detection device and feeds out the aircurrent containing ions through the exhaust port 7. In this way, thecleaning robot 1 can automatically identify the place where the iondistribution is needed to remain there, and thus it is possible toeffectively distribute ions to the identified and desired place.

Moreover, in the cleaning robot 1, the environment detection device isthe odor sensor 52 that detects odor in the surrounding area of the mainbody enclosure 2, and the cleaning robot 1 remains in the specific placewhere the odor of the predetermined threshold value or more is presentand feeds out the air current containing ions. Hence, the cleaning robot1 can distribute ions mainly to a place where odor is present.

Moreover, in the cleaning robot 1, the environment detection device isthe humidity sensor 53 that detects humidity in the surrounding area ofthe main body enclosure 2, and the cleaning robot 1 remains in thespecific place where the humidity of the predetermined threshold valueor more is present and feeds out the air current containing ions. Hence,the cleaning robot 1 can distribute ions mainly to a place wherehumidity is high.

Moreover, in the cleaning robot 1, the environment detection device isthe travel map 18 a that describes the specific place in the surroundingarea of the installation place of the cleaning robot 1, and the cleaningrobot 1 remains in the specific place previously described in the travelmap 18 a where ions are needed and feeds out the air current containingions. Hence, the cleaning robot 1 can distribute ions mainly to a placewhere odor is present and a place where humidity is high previouslydescribed in the travel map 18 a.

The “specific place” described above can be set at the place specifiedbased on the surrounding environment of the main body enclosure 2detected by the environment detection device, for example, the state ofair in the surrounding area. The specific place can be set at, forexample, as described above, the place where odor detected by the odorsensor 52 is present or the place where humidity detected by thehumidity sensor 53 is high; however, the specific place is not limitedto these places.

Since the cleaning robot 1 displaces the main body enclosure 2 based ondetection information from the human detection sensor 54 such that thedirection in which a person is present differs from the direction inwhich air is exhausted through the exhaust port 7, when the cleaningrobot 1 detects a person, the cleaning robot 1 exhausts air in adirection in which the person is not present. Thus, it is possible toprevent air exhausted through the exhaust port 7 from directly hittingthe person and thereby prevent the person from having an uncomfortablefeeling.

Since the cleaning robot 1 displaces the movable louver 17 to change,according to the speed of travel when the main body enclosure 2 isself-propelled, the direction in which air is exhausted through theexhaust port 7, ions are distributed to a different region according tothe speed of travel. In particular, the cleaning robot 1 displaces thelouver 17 such that it is possible to exhaust air upward when the mainbody enclosure 2 travels as compared with when the main body enclosure 2is stopped. Thus, as the speed of travel of the main body enclosure 2 isincreased, the cleaning robot 1 distributes ions to a wider region.Hence, in a wider region, it is possible to expect the effects of ionssuch as deodorizing and disinfecting.

In the configuration of the present embodiment of the present invention,the main body enclosure 2 of the cleaning robot 1 remains, for a giventime, in the specific place specified based on the surroundingenvironment detected by the environment detection device and feeds outthe air current containing ions through the exhaust port 7. In this way,the cleaning robot 1 can automatically identify the place where the iondistribution is needed, and thus it is possible to effectivelydistribute ions to the specified and desired place. Thus, it is possibleto provide the cleaning robot 1 that is a self-propelled ion generatorwhich can effectively distribute ions to the place where the ions areneeded.

Although the embodiment of the present invention has been describedabove, the range of the present invention is not limited to this range;various modifications are possible without departing from the spirit ofthe invention.

INDUSTRIAL APPLICABILITY

The present invention can be utilized for a self-propelled ion generatorand a cleaning robot that are self-propelled on a floor surface.

LIST OF REFERENCE SYMBOLS

-   -   1 Cleaning robot (self-propelled ion generator)    -   2 main body enclosure    -   5 drive wheel    -   6 suction port    -   7 exhaust port    -   8 concave portion    -   9 rotation brush    -   10 side brush    -   11 first air intake passage    -   12 second air intake passage    -   13 battery    -   14 control substrate    -   14 a CPU    -   17 louver    -   18 storage portion    -   18 a travel map (environment detection device, map)    -   20 motor unit    -   21 housing    -   22 electric blower    -   23 opening portion    -   24 a first exhaust passage    -   24 b second exhaust passage (exhaust flow passage)    -   25 ion generation device    -   30 dust collection portion    -   31 dust container    -   51 travel motor    -   52 odor sensor (environment detection device)    -   53 humidity sensor (environment detection device)    -   54 human detection sensor

1. A self-propelled ion generator comprising: a main body enclosure towhich a suction port and an exhaust port are open and which isself-propelled on a floor surface; an electric blower which is arrangedwithin the main body enclosure; an ion generation device whichdischarges ions into an exhaust flow passage between the electric blowerand the exhaust port; and an environment detection device which detectsa surrounding environment of the main body enclosure, wherein theself-propelled ion generator remains, for a given time, in a specificplace specified based on the surrounding environment of the main bodyenclosure detected by the environment detection device, and feeds out anair current containing the ions through the exhaust port by drive of theion generation device and the electric blower.
 2. The self-propelled iongenerator of claim 1, wherein the environment detection device is anodor sensor that detects odor in a surrounding area of the main bodyenclosure, and the self-propelled ion generator remains, for the giventime, regarding, as the specific place, a detection place based ondetection of an odor of a predetermined threshold value or more by theodor sensor, and feeds out the air current containing the ions throughthe exhaust port.
 3. The self-propelled ion generator of claim 1,wherein the environment detection device is a humidity sensor thatdetects humidity in a surrounding area of the main body enclosure, andthe self-propelled ion generator remains, for the given time, regarding,as the specific place, a detection place based on detection of ahumidity of a predetermined threshold value or more by the humiditysensor, and feeds out the air current containing the ions through theexhaust port.
 4. The self-propelled ion generator of claim 1, whereinthe environment detection device is a map that describes the specificplace in a surrounding area of an installation place of theself-propelled ion generator, and the self-propelled ion generatorremains, for the given time, in the specific place described in the map,and feeds out the air current containing the ions through the exhaustport.
 5. The self-propelled ion generator of claim 1 further comprising:a human detection sensor which detects presence of a person, wherein theself-propelled ion generator displaces the main body enclosure based ondetection information from the human detection sensor such that adirection in which the person is present differs from a direction inwhich air is exhausted through the exhaust port.
 6. The self-propelledion generator of claim 1 further comprising: a movable louver which canchange the direction in which the air is exhausted through the exhaustport, wherein the self-propelled ion generator displaces the movablelouver so as to change, according to a speed of travel when the mainbody enclosure is self-propelled, the direction in which the air isexhausted through the exhaust port.
 7. The self-propelled ion generatorof claim 6, wherein the self-propelled ion generator displaces themovable louver such that it is possible to exhaust air upward when themain body enclosure travels as compared with when the main bodyenclosure is stopped.
 8. A cleaning robot, wherein the self-propelledion generator of claim 1 includes a dust collection portion thatcollects dust of an air current sucked through the suction port by driveof the electric blower.